Design and Dynamic Analysis of Hexapod Robots Based on Jansen Linkage Mechanism

To investigate the adaptability of robots in complex unstructured environments, this study designs a hexapod bionic robot based on the Jansen linkage mechanism, aiming to enhance environmental adaptability and locomotion performance while reducing control complexity. A dual-objective optimization model is established with objectives of minimizing driving unit force and maximizing foot-end obstacle clearance height. The Monte Carlo method and interior point algorithm are employed to obtain optimal linkage parameters. Optimization results demonstrate the foot trajectory exhibits excellent obstacle-surmounting capability while requiring smaller driving force, enabling the selection of lower-power motors to effectively reduce leg weight. This study utilizes the characteristics of the Jansen linkage mechanism, where a single driving unit achieves planar two-degree-of-freedom footend trajectory motion. Consequently, the designed hexapod robot requires only two driving units per leg to realize three-dimensional motion, compared to three driving units in traditional hexapod robots. Relative to conventional hexapod robots requiring 18 driving units, this design reduces the number to 12 driving joints, decreasing control system complexity. Additionally, the optimized Jansen linkage mechanism features power-off self-locking capability with a maximum static load capacity of 50 kg. Finally, straight-line and turning motion tests conducted on the constructed bionic hexapod robot, combined with ADAMS simulation verification, confirm the robot's 20° slope-climbing capability. This study provides reference for hexapod bionic robot design.